Yaskawa MP940 - Manual (Page 33)

Specifications and Functions
2.3.3 Motion Command Descriptions
2-10
Se-
quence
Com-
mands = SUBSTITUTE (Result) = (Arithmetic expression) Substitutes operation results. Performs
calculations from left to right (with no
order of priority).
+ ADD MW － = MW － + MW － ;
MW － = MW － + 123456;
MW － = 123456 + MW － ; Performs integer and real number addi-
tion. Calculates combinations of integers
and real numbers as real numbers.
- SUBTRACT MW － = MW － - MW － ;
MW － = MW － - 123456;
MW － = 123456 - MW － ; Performs integer and real number sub-
traction. Calculates combinations of inte-
gers and real numbers as real numbers.
* MULTIPLY MW － = MW － ∗ MW － ;
MW － = MW － ∗ 123456;
MW － = 123456 ∗ MW － ;
Performs integer and real number multi-
plication. Calculates combinations of
integers and real numbers as real num-
bers.
/ DIVIDE MW － = MW － /MW － ;
MW － = MW － /123456;
MW － = 123456 /MW － ; Performs integer and real number divi-
sion. Calculates combinations of integers
and real numbers as real numbers.
MOD REMAINDER MW － = MW － /MW － ;
MW － = MOD; When programmed in the next block
after a division, MOD stores the remain-
der in the designated register.
| OR (logical OR) MB － = MB － | MB － ;
MB － = MB － | 1;
MW － = MW － | MW － ;
MW － = MW － | H00FF; Performs bit/integer logical OR.
^ XOR (logical ex-
clusive OR) MW － = MW － ^ MW － ;
MW － = MW － ^ H00FF; Performs integer logical exclusive OR.
& AND (logical
AND) MB － = MB － & MB － ;
MB － = MB － & 1;
MW － = MW － & MW － ;
MW － = MW － & H00FF; Performs bit/integer logical AND.
! NOT (logical
complement) MB － = !MB － ;
MB － = !1;
MW － = !MW － ;
MW － = !H00FF; Performs bit/integer logical complement
(inverts bits).
() PARENTHESES MW － = MW― &
(MW― | MW―); The logical arithmetic expression inside
parentheses is calculated first.
S{} SET BIT S{MB － } = MB － & MB － ; If the logical operation result is “true,"
the designated bit turns ON. The desig-
nated bit does not turn OFF, even if the
logical operation result is “false."
R{} RESET BIT R{MB － } = MB － & MB － ; If the logical operation result is “true,"
the designated bit turns OFF. The desig-
nated bit does not turn ON, even if the
logical operation result is “false."
SIN SINE SIN(MW － )；
SIN(90)； Obtains the sine of the integer or real
number (deg), and returns a real value.
COS COSINE COS(MW － )；
COS(90)； Obtains the cosine of the integer or real
number (deg), and returns a real value.
Classifi-
cation
Command Name Programming Format Function/Meaning